public GenomeNEAT(CritterGenome critterBodyGenome, int numHidden)
{
// Constructor
nodeNEATList = critterBodyGenome.GetBlankBrainNodesFromBody(); // returns a list of nodeNEAT's based on bodyGenome
int currentID = nodeNEATList.Count;
// Add in hidden nodes:
for (int h = 0; h < numHidden; h++)
{
Debug.Log("NO HIDDEN NODES CREATED!!! -- need a way to keep track of innovation#'s, have no access to crossoverManager");
//GeneNodeNEAT newHiddenNode = new GeneNodeNEAT(currentID, GeneNodeNEAT.GeneNodeType.Hid, TransferFunctions.TransferFunction.RationalSigmoid, -1, 0, -1);
//nodeNEATList.Add(newHiddenNode);
//currentID++;
}
// do I need to save body-part&add-on information on the Brain NODES? or only on Neurons?
linkNEATList = new List <GeneLinkNEAT>();
string newGenomeNEATDisplay = "NEW GenomeNEAT! #nodes: " + nodeNEATList.Count.ToString() + "\n";
for (int i = 0; i < nodeNEATList.Count; i++)
{
newGenomeNEATDisplay += "Node[" + i.ToString() + "] (" + nodeNEATList[i].id.ToString() + ", " + nodeNEATList[i].sourceAddonInno.ToString() + ", " + nodeNEATList[i].sourceAddonRecursionNum.ToString() + ", " + nodeNEATList[i].sourceAddonChannelNum.ToString() + ")\n";
}
Debug.Log(newGenomeNEATDisplay);
/*if (numInputs < 1 || numOutputs < 1) {
* Debug.LogError("New NEAT Genome requires at least 1 input and output node!! [" + numInputs.ToString() + "," + numOutputs.ToString() + "]");
* }
* else {
* nodeNEATList = new List<GeneNodeNEAT>();
* int currentID = 0;
* for (int i = 0; i < numInputs; i++) {
* GeneNodeNEAT newInputNode = new GeneNodeNEAT(currentID, GeneNodeNEAT.GeneNodeType.In, TransferFunctions.TransferFunction.Linear);
* nodeNEATList.Add(newInputNode);
* currentID++;
* }
* for (int h = 0; h < numHidden; h++) {
* GeneNodeNEAT newHiddenNode = new GeneNodeNEAT(currentID, GeneNodeNEAT.GeneNodeType.Hid, TransferFunctions.TransferFunction.RationalSigmoid);
* nodeNEATList.Add(newHiddenNode);
* currentID++;
* }
* for (int o = 0; o < numOutputs; o++) {
* GeneNodeNEAT newOutputNode = new GeneNodeNEAT(currentID, GeneNodeNEAT.GeneNodeType.Out, TransferFunctions.TransferFunction.RationalSigmoid);
* nodeNEATList.Add(newOutputNode);
* currentID++;
* }
*
* linkNEATList = new List<GeneLinkNEAT>();
* // Empty for now
* }*/
}
public GenomeNEAT(CritterGenome critterBodyGenome, int numHidden) {
// Constructor
nodeNEATList = critterBodyGenome.GetBlankBrainNodesFromBody(); // returns a list of nodeNEAT's based on bodyGenome
int currentID = nodeNEATList.Count;
// Add in hidden nodes:
for (int h = 0; h < numHidden; h++) {
Debug.Log("NO HIDDEN NODES CREATED!!! -- need a way to keep track of innovation#'s, have no access to crossoverManager");
//GeneNodeNEAT newHiddenNode = new GeneNodeNEAT(currentID, GeneNodeNEAT.GeneNodeType.Hid, TransferFunctions.TransferFunction.RationalSigmoid, -1, 0, -1);
//nodeNEATList.Add(newHiddenNode);
//currentID++;
}
// do I need to save body-part&add-on information on the Brain NODES? or only on Neurons?
linkNEATList = new List<GeneLinkNEAT>();
string newGenomeNEATDisplay = "NEW GenomeNEAT! #nodes: " + nodeNEATList.Count.ToString() + "\n";
for(int i = 0; i < nodeNEATList.Count; i++) {
newGenomeNEATDisplay += "Node[" + i.ToString() + "] (" + nodeNEATList[i].id.ToString() + ", " + nodeNEATList[i].sourceAddonInno.ToString() + ", " + nodeNEATList[i].sourceAddonRecursionNum.ToString() + ", " + nodeNEATList[i].sourceAddonChannelNum.ToString() + ")\n";
}
Debug.Log(newGenomeNEATDisplay);
/*if (numInputs < 1 || numOutputs < 1) {
Debug.LogError("New NEAT Genome requires at least 1 input and output node!! [" + numInputs.ToString() + "," + numOutputs.ToString() + "]");
}
else {
nodeNEATList = new List<GeneNodeNEAT>();
int currentID = 0;
for (int i = 0; i < numInputs; i++) {
GeneNodeNEAT newInputNode = new GeneNodeNEAT(currentID, GeneNodeNEAT.GeneNodeType.In, TransferFunctions.TransferFunction.Linear);
nodeNEATList.Add(newInputNode);
currentID++;
}
for (int h = 0; h < numHidden; h++) {
GeneNodeNEAT newHiddenNode = new GeneNodeNEAT(currentID, GeneNodeNEAT.GeneNodeType.Hid, TransferFunctions.TransferFunction.RationalSigmoid);
nodeNEATList.Add(newHiddenNode);
currentID++;
}
for (int o = 0; o < numOutputs; o++) {
GeneNodeNEAT newOutputNode = new GeneNodeNEAT(currentID, GeneNodeNEAT.GeneNodeType.Out, TransferFunctions.TransferFunction.RationalSigmoid);
nodeNEATList.Add(newOutputNode);
currentID++;
}
linkNEATList = new List<GeneLinkNEAT>();
// Empty for now
}*/
}
public void AdjustBrainAfterBodyChange(ref CritterGenome bodyGenome)
{
// Try to do it assuming this function only took a CritterNode as input, rather than full bodyGenome:
//CritterNode sourceNode = bodyGenome.CritterNodeList[bodyNodeID];
string beforeBrain = "AdjustBrain Before: \n";
string afterBrain = "AdjustBrain After: \n";
List <GeneNodeNEAT> newBrainNodeList = bodyGenome.GetBlankBrainNodesFromBody(); // doesn't include Hidden Nodes
//List<GeneLinkNEAT> newBrainLinkList = new List<GeneLinkNEAT>(); // need to make a new copy so that the old link-list stays static while searching for matching from/toID's
// Find number of Input+Output nodes in the old list:
//int numOriginalInOutNodes = 0;
//for (int i = 0; i < nodeNEATList.Count; i++) {
// if(nodeNEATList[i].nodeType != GeneNodeNEAT.GeneNodeType.Hid) {
// numOriginalInOutNodes++;
// }
//}
// Compare this to the number of nodes in the new list (which doesn't contain any hidden nodes)
//int netNewNodes = newBrainNodeList.Count - numOriginalInOutNodes;
//Debug.Log("AdjustBrainAddedRecursion! numOriginalInOutNodes: " + numOriginalInOutNodes.ToString() + ", netNewNodes: " + netNewNodes.ToString() + ", bodyNodeID: " + bodyNodeID.ToString() + ", recursionNum: " + recursionNum.ToString());
int nextNodeIndexID = newBrainNodeList.Count; // where to start counting for hiddenNode ID's
for (int i = 0; i < nodeNEATList.Count; i++)
{
beforeBrain += "Node " + nodeNEATList[i].id.ToString() + " (" + nodeNEATList[i].sourceAddonInno.ToString() + ", " + nodeNEATList[i].sourceAddonRecursionNum.ToString() + ", " + nodeNEATList[i].sourceAddonChannelNum.ToString() + ")\n";
if (nodeNEATList[i].nodeType == GeneNodeNEAT.GeneNodeType.Hid)
{
//Debug.Log("AdjustBrainAfterBodyChange HID NODE: nextNodeIndexID: " + (nextNodeIndexID).ToString());
GeneNodeNEAT clonedNode = new GeneNodeNEAT(nextNodeIndexID, nodeNEATList[i].nodeType, nodeNEATList[i].activationFunction, nodeNEATList[i].sourceAddonInno, nodeNEATList[i].sourceAddonRecursionNum, false, nodeNEATList[i].sourceAddonChannelNum);
newBrainNodeList.Add(clonedNode);
nextNodeIndexID++;
}
}
for (int i = 0; i < newBrainNodeList.Count; i++)
{
afterBrain += "Node " + newBrainNodeList[i].id.ToString() + " (" + newBrainNodeList[i].sourceAddonInno.ToString() + ", " + newBrainNodeList[i].sourceAddonRecursionNum.ToString() + ", " + newBrainNodeList[i].sourceAddonChannelNum.ToString() + ")\n";
}
// Once complete, replace oldNodeList with the new one:
nodeNEATList = newBrainNodeList;
//linkNEATList = newBrainLinkList;
// Make sure that there aren't any links pointing to non-existent nodes:
for (int i = 0; i < linkNEATList.Count; i++)
{
bool linkSevered = false;
if (GetNodeIndexFromInt3(linkNEATList[i].fromNodeID) == -1)
{
linkSevered = true;
}
if (GetNodeIndexFromInt3(linkNEATList[i].toNodeID) == -1)
{
linkSevered = true;
}
if (linkSevered)
{
linkNEATList[i].enabled = false;
//Debug.Log("LINK " + i.ToString() + " SEVERED!! " + linkNEATList[i].fromNodeID.ToString() + ", " + linkNEATList[i].toNodeID.ToString());
}
}
//Debug.Log(beforeBrain);
//Debug.Log(afterBrain + "\n deltaNodes: " + netNewNodes.ToString());
}
public void AdjustBrainAfterBodyChange(ref CritterGenome bodyGenome) {
// Try to do it assuming this function only took a CritterNode as input, rather than full bodyGenome:
//CritterNode sourceNode = bodyGenome.CritterNodeList[bodyNodeID];
string beforeBrain = "AdjustBrain Before: \n";
string afterBrain = "AdjustBrain After: \n";
List<GeneNodeNEAT> newBrainNodeList = bodyGenome.GetBlankBrainNodesFromBody(); // doesn't include Hidden Nodes
//List<GeneLinkNEAT> newBrainLinkList = new List<GeneLinkNEAT>(); // need to make a new copy so that the old link-list stays static while searching for matching from/toID's
// Find number of Input+Output nodes in the old list:
//int numOriginalInOutNodes = 0;
//for (int i = 0; i < nodeNEATList.Count; i++) {
// if(nodeNEATList[i].nodeType != GeneNodeNEAT.GeneNodeType.Hid) {
// numOriginalInOutNodes++;
// }
//}
// Compare this to the number of nodes in the new list (which doesn't contain any hidden nodes)
//int netNewNodes = newBrainNodeList.Count - numOriginalInOutNodes;
//Debug.Log("AdjustBrainAddedRecursion! numOriginalInOutNodes: " + numOriginalInOutNodes.ToString() + ", netNewNodes: " + netNewNodes.ToString() + ", bodyNodeID: " + bodyNodeID.ToString() + ", recursionNum: " + recursionNum.ToString());
int nextNodeIndexID = newBrainNodeList.Count; // where to start counting for hiddenNode ID's
for (int i = 0; i < nodeNEATList.Count; i++) {
beforeBrain += "Node " + nodeNEATList[i].id.ToString() + " (" + nodeNEATList[i].sourceAddonInno.ToString() + ", " + nodeNEATList[i].sourceAddonRecursionNum.ToString() + ", " + nodeNEATList[i].sourceAddonChannelNum.ToString() + ")\n";
if (nodeNEATList[i].nodeType == GeneNodeNEAT.GeneNodeType.Hid) {
//Debug.Log("AdjustBrainAfterBodyChange HID NODE: nextNodeIndexID: " + (nextNodeIndexID).ToString());
GeneNodeNEAT clonedNode = new GeneNodeNEAT(nextNodeIndexID, nodeNEATList[i].nodeType, nodeNEATList[i].activationFunction, nodeNEATList[i].sourceAddonInno, nodeNEATList[i].sourceAddonRecursionNum, false, nodeNEATList[i].sourceAddonChannelNum);
newBrainNodeList.Add(clonedNode);
nextNodeIndexID++;
}
}
for (int i = 0; i < newBrainNodeList.Count; i++) {
afterBrain += "Node " + newBrainNodeList[i].id.ToString() + " (" + newBrainNodeList[i].sourceAddonInno.ToString() + ", " + newBrainNodeList[i].sourceAddonRecursionNum.ToString() + ", " + newBrainNodeList[i].sourceAddonChannelNum.ToString() + ")\n";
}
// Once complete, replace oldNodeList with the new one:
nodeNEATList = newBrainNodeList;
//linkNEATList = newBrainLinkList;
// Make sure that there aren't any links pointing to non-existent nodes:
for (int i = 0; i < linkNEATList.Count; i++) {
bool linkSevered = false;
if (GetNodeIndexFromInt3(linkNEATList[i].fromNodeID) == -1) {
linkSevered = true;
}
if (GetNodeIndexFromInt3(linkNEATList[i].toNodeID) == -1) {
linkSevered = true;
}
if (linkSevered) {
linkNEATList[i].enabled = false;
//Debug.Log("LINK " + i.ToString() + " SEVERED!! " + linkNEATList[i].fromNodeID.ToString() + ", " + linkNEATList[i].toNodeID.ToString());
}
}
//Debug.Log(beforeBrain);
//Debug.Log(afterBrain + "\n deltaNodes: " + netNewNodes.ToString());
}
